HENDERSON — Authorities have arrested and jailed the man they accuse of shooting to death a Vance County woman in July.

Antavian Cornelius Yancey, 34, is being held without bond in the Vance County Jail.

He is charged with first-degree murder and burning of personal property in connection with the death of Charisma Robinson, 35, who was found dead on Gilmer Street in Burlington on July 16.

Sheriff Curtis Brame confirmed the arrest, and via a news release said it occurred Oct. 10, when police in Roanoke Rapids had received a tip about where Yancey might be.

They took him into custody after finding him at an address in Roanoke Rapids, and held him until Vance County Sheriff’s Office deputies could come get him and bring him back to Henderson.

The investigation is continuing, Brame said.

It began on July 16 when Vance County deputies and the Vance County Fire Department found a vehicle “full engulfed” in flames. Detectives and the State Bureau of Investigation’s arson unit started work, learning on July 17 that it was potentially tied to Robinson’s death.

Police in Burlington on July 17 notified Brame’s office to say they’d found Robinson’s body. The investigation quickly expanded to include the Burlington and Henderson police departments.

Authorities publicly named Yancey a suspect in the case on July 27.

He is scheduled to appear in court on Nov. 9.

Contact Ray Gronberg at rgronberg@hendersondispatch.com or by phone at 252-436-2850.

Contact Ray Gronberg at rgronberg@hendersondispatch.com or by phone at 252-436-2850.